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<title>Newton Dynamics: ndIkSolver Class Reference</title>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#friends">Friends</a> &#124;
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<div class="title">ndIkSolver Class Reference</div>  </div>
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Inheritance diagram for ndIkSolver:</div>
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  <img src="classnd_ik_solver.png" usemap="#ndIkSolver_map" alt=""/>
  <map id="ndIkSolver_map" name="ndIkSolver_map">
<area href="classnd_class_alloc.html" title="Base class for providing memory allocation for all other engine classes." alt="ndClassAlloc" shape="rect" coords="0,0,86,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a026482ee2dd091f4122a44c46c84289d"><td class="memItemLeft" align="right" valign="top"><a id="a026482ee2dd091f4122a44c46c84289d"></a>
D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SetMaxAccel</b> (ndFloat32 maxAccel, ndFloat32 maxAlpha)</td></tr>
<tr class="separator:a026482ee2dd091f4122a44c46c84289d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b513585b8eaff124faa78dd4c4aebdb"><td class="memItemLeft" align="right" valign="top"><a id="a8b513585b8eaff124faa78dd4c4aebdb"></a>
D_NEWTON_API bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsSleeping</b> (<a class="el" href="classnd_skeleton_container.html">ndSkeletonContainer</a> *const skeleton) const</td></tr>
<tr class="separator:a8b513585b8eaff124faa78dd4c4aebdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a096e2639f589ce03ff08ac983fbe3369"><td class="memItemLeft" align="right" valign="top"><a id="a096e2639f589ce03ff08ac983fbe3369"></a>
D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SolverBegin</b> (<a class="el" href="classnd_skeleton_container.html">ndSkeletonContainer</a> *const skeleton, <a class="el" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a> *const *joint, ndInt32 jointCount, <a class="el" href="classnd_world.html">ndWorld</a> *const world, ndFloat32 timestep)</td></tr>
<tr class="separator:a096e2639f589ce03ff08ac983fbe3369"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57e024536f93a64edd87abbe544e2c81"><td class="memItemLeft" align="right" valign="top"><a id="a57e024536f93a64edd87abbe544e2c81"></a>
D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>Solve</b> ()</td></tr>
<tr class="separator:a57e024536f93a64edd87abbe544e2c81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad466a1c06eeb562380b2d50588db67fe"><td class="memItemLeft" align="right" valign="top"><a id="ad466a1c06eeb562380b2d50588db67fe"></a>
D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SolverEnd</b> ()</td></tr>
<tr class="separator:ad466a1c06eeb562380b2d50588db67fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a239a34e6bdedfde136550382c2496c15"><td class="memItemLeft" align="right" valign="top"><a id="a239a34e6bdedfde136550382c2496c15"></a>
D_NEWTON_API <a class="el" href="classnd_vector.html">ndVector</a>&#160;</td><td class="memItemRight" valign="bottom"><b>GetBodyForce</b> (const <a class="el" href="classnd_body_kinematic.html">ndBodyKinematic</a> *const body) const</td></tr>
<tr class="separator:a239a34e6bdedfde136550382c2496c15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a984e26887a5e649cb854ce0f5a3e28e7"><td class="memItemLeft" align="right" valign="top"><a id="a984e26887a5e649cb854ce0f5a3e28e7"></a>
D_NEWTON_API <a class="el" href="classnd_vector.html">ndVector</a>&#160;</td><td class="memItemRight" valign="bottom"><b>GetBodyTorque</b> (const <a class="el" href="classnd_body_kinematic.html">ndBodyKinematic</a> *const body) const</td></tr>
<tr class="separator:a984e26887a5e649cb854ce0f5a3e28e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classnd_class_alloc"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classnd_class_alloc')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classnd_class_alloc.html">ndClassAlloc</a></td></tr>
<tr class="memitem:affad975c41ed36eae8c71e3468fc12e3 inherit pub_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="affad975c41ed36eae8c71e3468fc12e3"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#affad975c41ed36eae8c71e3468fc12e3">ndClassAlloc</a> ()</td></tr>
<tr class="memdesc:affad975c41ed36eae8c71e3468fc12e3 inherit pub_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty default constructor. <br /></td></tr>
<tr class="separator:affad975c41ed36eae8c71e3468fc12e3 inherit pub_methods_classnd_class_alloc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fea90aa3642db2007a191975bb169ce inherit pub_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="a8fea90aa3642db2007a191975bb169ce"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a8fea90aa3642db2007a191975bb169ce">~ndClassAlloc</a> ()</td></tr>
<tr class="memdesc:a8fea90aa3642db2007a191975bb169ce inherit pub_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty. <br /></td></tr>
<tr class="separator:a8fea90aa3642db2007a191975bb169ce inherit pub_methods_classnd_class_alloc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Friends</h2></td></tr>
<tr class="memitem:acb84137105481cfc21ca9dad3c2e3ea4"><td class="memItemLeft" align="right" valign="top"><a id="acb84137105481cfc21ca9dad3c2e3ea4"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>ndSkeletonContainer</b></td></tr>
<tr class="separator:acb84137105481cfc21ca9dad3c2e3ea4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classnd_class_alloc"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classnd_class_alloc')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classnd_class_alloc.html">ndClassAlloc</a></td></tr>
<tr class="memitem:a1f1766c498c6231d24c63582106d2cfc inherit pub_static_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="a1f1766c498c6231d24c63582106d2cfc"></a>
D_OPERATOR_NEW_AND_DELETE static D_CORE_API void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a1f1766c498c6231d24c63582106d2cfc">Malloc</a> (size_t size)</td></tr>
<tr class="memdesc:a1f1766c498c6231d24c63582106d2cfc inherit pub_static_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generic allocation for any function subclass from <a class="el" href="classnd_class_alloc.html" title="Base class for providing memory allocation for all other engine classes.">ndClassAlloc</a>. <br /></td></tr>
<tr class="separator:a1f1766c498c6231d24c63582106d2cfc inherit pub_static_methods_classnd_class_alloc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5037cbc14d91b2b5e6b5163ed0ef9757 inherit pub_static_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="a5037cbc14d91b2b5e6b5163ed0ef9757"></a>
static D_CORE_API void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a5037cbc14d91b2b5e6b5163ed0ef9757">Free</a> (void *const ptr)</td></tr>
<tr class="memdesc:a5037cbc14d91b2b5e6b5163ed0ef9757 inherit pub_static_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generic destruction for any function subclass from <a class="el" href="classnd_class_alloc.html" title="Base class for providing memory allocation for all other engine classes.">ndClassAlloc</a>. <br /></td></tr>
<tr class="separator:a5037cbc14d91b2b5e6b5163ed0ef9757 inherit pub_static_methods_classnd_class_alloc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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